Enable Ubuntu 22.04 builds

* Updated github workflow to still build on 18.04
* Added support for clang-10 on 20.04
* Added support for gcc-11 and clang-14 on 22.04

.github/workflows/build_test.yml

@@ -13,7 +13,7 @@ env:
 jobs:
   ubuntu18job:
     name: Ubuntu 18.04
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
 
     strategy:
       matrix:
@@ -28,11 +28,6 @@ jobs:
            CC: /usr/bin/gcc-8
            CXX: /usr/bin/g++-8
            PYTHON_BINDING_VERSION: "3.6 -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3.6"
-         - compiler: gcc9
-           EXTRA_PACKAGES: g++-9
-           CC: /usr/bin/gcc-9
-           CXX: /usr/bin/g++-9
-           PYTHON_BINDING_VERSION: "3.6 -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3.6"
          - compiler: clang7
            EXTRA_PACKAGES: clang-7
            CC: /usr/bin/clang-7
@@ -44,9 +39,16 @@ jobs:
            CXX: /usr/bin/clang++-8
            PYTHON_BINDING_VERSION: "3.6 -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3.6"
 
+    container:
+      image: ubuntu:18.04
+
     steps:
-    - uses: actions/checkout@v2
+    - name: Install base packages
+      run: apt update && apt install -y git sudo
+
+    - uses: actions/checkout@v1
       with:
+          fetch-depth: 1
           submodules: true
 
     - name: Install Dependencies
@@ -59,10 +61,11 @@ jobs:
           EXTRA_PACKAGES: ${{ matrix.EXTRA_PACKAGES }}
           PYTHON_BINDING_VERSION: ${{ matrix.PYTHON_BINDING_VERSION }}
       run: |
-        sudo apt-get install ${EXTRA_PACKAGES}
+        sudo apt-get install -y ${EXTRA_PACKAGES}
         rm -rf log build install
         eval CC=${CC} CXX=${CXX} ${BUILDCMD}
 
+
   ubuntu20job:
     name: Ubuntu 20.04
     runs-on: ubuntu-20.04
@@ -75,6 +78,11 @@ jobs:
            CC: ""
            CXX: ""
            PYTHON_BINDING_VERSION: "3.8"
+         - compiler: clang10
+           EXTRA_PACKAGES: clang-10
+           CC: /usr/bin/clang-10
+           CXX: /usr/bin/clang++-10
+           PYTHON_BINDING_VERSION: "3.8"
 
     steps:
     - uses: actions/checkout@v2
@@ -94,3 +102,42 @@ jobs:
         sudo apt-get install ${EXTRA_PACKAGES}
         rm -rf log build install
         eval CC=${CC} CXX=${CXX} ${BUILDCMD}
+
+
+
+  ubuntu22job:
+    name: Ubuntu 22.04
+    runs-on: ubuntu-22.04
+
+    strategy:
+      matrix:
+       include:
+         - compiler: gcc11
+           EXTRA_PACKAGES: ""
+           CC: ""
+           CXX: ""
+           PYTHON_BINDING_VERSION: "3.10"
+         - compiler: clang14
+           EXTRA_PACKAGES: clang-14
+           CC: /usr/bin/clang-14
+           CXX: /usr/bin/clang++-14
+           PYTHON_BINDING_VERSION: "3.10"
+
+    steps:
+    - uses: actions/checkout@v2
+      with:
+          submodules: recursive
+
+    - name: Install Dependencies
+      run: bash .github/workflows/install_dependencies.sh
+
+    - name: Build and Test
+      env:
+          CC: ${{ matrix.CC }}
+          CXX: ${{ matrix.CXX }}
+          EXTRA_PACKAGES: ${{ matrix.EXTRA_PACKAGES }}
+          PYTHON_BINDING_VERSION: ${{ matrix.PYTHON_BINDING_VERSION }}
+      run: |
+        sudo apt-get install ${EXTRA_PACKAGES}
+        rm -rf log build install
+        eval CC=${CC} CXX=${CXX} ${BUILDCMD}

.github/workflows/install_dependencies.sh

@@ -1,18 +1,26 @@
 #!/bin/bash
 
-sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+python3_pkgs="libpython3-dev python3 python3-pip python3-setuptools python3-wheel"
+python2_pkgs="libpython-dev python python-pip python-wheel python-setuptools"
+other_pkgs="build-essential castxml cmake libboost-all-dev libgtest-dev liblapacke-dev libopenblas-dev libpugixml-dev sqlite3"
+
 sudo apt-get update
-sudo apt-get install -y --no-install-recommends build-essential castxml cmake libboost-all-dev libgtest-dev liblapacke-dev libopenblas-dev libproj-dev libpugixml-dev libpython3-dev python python-setuptools python3 python3-pip python3-setuptools python3-wheel
+sudo apt-get install -y lsb-core
 
-if [ `lsb_release -a | grep Release | grep 20.04 | wc -l` == 1 ]; then
-  sudo apt-get install -y --no-install-recommends python-is-python3
-else
-  sudo apt-get install -y --no-install-recommends python-pip python-wheel
+if [ `lsb_release -a | grep Release | grep 18.04 | wc -l` == 1 ]; then
+  sudo add-apt-repository ppa:ubuntu-toolchain-r/test
 fi
+
+sudo apt-get update
+sudo apt-get install -y --no-install-recommends ${other_pkgs} ${python3_pkgs}
+
 sudo pip3 install --upgrade setuptools==51.1.2
 sudo pip3 install colcon-common-extensions xmlrunner pygccxml pyplusplus
 
-if [ `lsb_release -a | grep Release | grep 20.04 | wc -l` != 1 ]; then
+if [ `lsb_release -a | grep Release | grep 18.04 | wc -l` == 1 ]; then
+  sudo apt-get install -y --no-install-recommends ${python2_pkgs}
   sudo pip2 install --upgrade setuptools==41.1.0
-  sudo pip2 install pygccxml pyplusplus xmlrunner
+  sudo pip2 install pygccxml==2.2.1 pyplusplus==1.8.4 xmlrunner
+else
+  sudo apt-get install -y --no-install-recommends "python-is-python3"
 fi

.github/workflows/wheels.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   wheels:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     strategy:
       matrix:
         python_binding_version: [2.7, 3.6, 3.7, 3.8]
@@ -25,12 +25,10 @@ jobs:
         with:
           fetch-depth: 1
           submodules: true
-      - name: Prepare PROJ
-        run: |
-          git clone --depth=1 -b 4.9.3 https://github.com/OSGeo/PROJ.git dependencies/PROJ
       - name: Build wheels
         shell: bash
         run: |
+          apt update && apt install sqlite3 -y
           colcon build --packages-select PROJ4 --event-handlers console_direct+ --cmake-args -DCMAKE_POSITION_INDEPENDENT_CODE=ON
           source install/setup.bash
           colcon build --packages-up-to ad_map_access --meta colcon_python.meta --event-handlers console_direct+ --cmake-args -DPYTHON_BINDING_VERSION=${PYTHON_BINDING_VERSION}

.github/workflows/wheels/docker/Dockerfile

@@ -15,9 +15,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   wget \
   autoconf \
   automake \
+  sqlite3 \
   castxml \
-  libpugixml-dev \
-  libproj-dev && \
+  libpugixml-dev && \
   rm -rf /var/lib/apt/lists/*
 
 RUN \

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "dependencies/odrSpiral"]
 	path = dependencies/odrSpiral
 	url = https://github.com/DLR-TS/odrSpiral
+[submodule "dependencies/PROJ4"]
+	path = dependencies/PROJ4
+	url = https://github.com/OSGeo/PROJ.git

README.md

@@ -67,16 +67,19 @@ To download the library, you may run:
 ```
 
 #### Supported systems <a name="systems"></a>
-Development systems are Ubuntu 18.04 and Ubuntu 20.04.
+Development systems are Ubuntu 18.04, Ubuntu 20.04 and Ubuntu 22.04
 Following compiler combinations are [tested continously](https://github.com/carla-simulator/map/blob/master/.travis.yml):
 
-|                 | Ubuntu 18.04 | Ubuntu 20.04 |
-|:---------------:|:------------:|:------------:|
-|  Clang 7        |       x      |              |
-|  Clang 8        |       x      |              |
-|   GCC 7         |       x      |              |
-|   GCC 8         |       x      |              |
-|   GCC 9         |       x      |       x      |
+|                 | Ubuntu 18.04 | Ubuntu 20.04 | Ubuntu 22.04 |
+|:---------------:|:------------:|:------------:|:------------:|
+|  Clang 7        |       x      |              |              |
+|  Clang 8        |       x      |              |              |
+|   GCC 7         |       x      |              |              |
+|   GCC 8         |       x      |              |              |
+|   GCC 9         |              |       x      |              |
+|  Clang 10       |              |       x      |              |
+|   GCC 11        |              |              |       x      |
+|  Clang 14       |              |              |       x      |
 
 Important: cmake is required to be at least version 3.5!
 

ad_map_access/tests/opendrive/OpenDriveAccessTests.cpp

@@ -152,12 +152,12 @@ struct OpenDriveAccessTests : ::testing::Test
         }
       }
       EXPECT_NE(expectedLanes.size(), 0u);
-      for (auto const matchedPosition : mapMatchedPositions0)
+      for (auto const &matchedPosition : mapMatchedPositions0)
       {
         EXPECT_TRUE(lanesTestArea.find(matchedPosition.lanePoint.paraPoint.laneId) != lanesTestArea.end());
         expectedLanes.erase(matchedPosition.lanePoint.paraPoint.laneId);
       }
-      for (auto const matchedPosition : mapMatchedPositions1)
+      for (auto const &matchedPosition : mapMatchedPositions1)
       {
         EXPECT_TRUE(lanesTestArea.find(matchedPosition.lanePoint.paraPoint.laneId) != lanesTestArea.end());
         expectedLanes.erase(matchedPosition.lanePoint.paraPoint.laneId);
@@ -492,4 +492,4 @@ TEST_F(OpenDriveAccessTests, read_karlsruhe_map_with_other_proj_string)
   const auto refPoint = access::getENUReferencePoint();
   ASSERT_EQ(refPoint.latitude, ad::map::point::Latitude(49.02067835));
   ASSERT_EQ(refPoint.longitude, ad::map::point::Longitude(8.43531364));
-}
+}

colcon.meta

@@ -4,7 +4,7 @@
             "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DSPDLOG_BUILD_TESTS=OFF", "-DSPDLOG_BUILD_EXAMPLE=Off"]
         },
         "ad_map_opendrive_reader": {
-            "dependencies": ["odrSpiral"]
+            "dependencies": ["odrSpiral", "PROJ4"]
         }
     }
 }

colcon_python.meta

@@ -7,7 +7,7 @@
             "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"]
         },
         "ad_map_opendrive_reader": {
-            "dependencies": ["odrSpiral"]
+            "dependencies": ["odrSpiral", "PROJ4"]
         },
         "ad_map_access": {
             "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"]

tools/map_maker/CMakeLists.txt

@@ -41,7 +41,12 @@ set(CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 #todo add -Wshadow
-add_compile_options(-Wall -Wextra -Werror -Wconversion -pedantic)
+
+if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 9.0.0)
+  add_compile_options(-Wall -Wextra -Werror -Wconversion -pedantic -Wno-final-dtor-non-final-class)
+else()
+  add_compile_options(-Wall -Wextra -Werror -Wconversion -pedantic)
+endif()
 
 #####################################################################
 # Libraries

tools/map_maker/geometry/include/ad/map/maker/geometry/Polyline2d.hpp

@@ -11,6 +11,7 @@
 
 #pragma once
 
+#include <cstdint>
 #include <vector>
 #include "ad/map/maker/geometry/Line2d.hpp"
 #include "ad/map/maker/geometry/Point2d.hpp"

tools/map_maker/map_data/include/ad/map/maker/map_data/Intersection.hpp

@@ -99,7 +99,6 @@ struct Intersection : MapDataElement
   std::vector<MapDataId> mRoads; //!< list of internal roads
 
   Intersection() = delete;
-  Intersection &operator=(Intersection const &other) = delete;
 
   Intersection(MapDataStore &dataStore, common::LogFactory &logFactory);
 

tools/map_maker/map_data/include/ad/map/maker/map_data/Road.hpp

@@ -133,7 +133,6 @@ struct Road : MapDataElement
   MapDataId mSuccessor{InvalidId};   //! ID of succeeding element (if any), can be another road or an intersection
 
   Road() = delete;
-  Road &operator=(Road const &other) = delete;
 
   Road(MapDataStore &dataStore, common::LogChannel &logChannel);
 

tools/map_maker/map_data/src/BigIntersectionGenerator.cpp

@@ -80,7 +80,7 @@ void BigIntersectionGenerator::generateBigIntersections(double interpolationStep
   std::unordered_map<uint32_t, std::vector<MapDataId>> bigIntersectionsIdMap;
   detectBigIntersections(specialIntersectionsSet, bigIntersectionsIdMap);
 
-  for (auto const bigIntersectionIds : bigIntersectionsIdMap)
+  for (auto const &bigIntersectionIds : bigIntersectionsIdMap)
   {
     generateBigIntersection(bigIntersectionIds.second, interpolationStepSize, fullInterpolation);
   }